Study On The Kinematic Control For 3-PRR Planar Parallel Manipulator

With the rapid development of science and technology, robots have been widely used in product automation, military and social practice, and the demand for robotic technology has been increased. To better develop robotic technology, people increasingly look for better theoretical systems. Parallel robot is one of the hot fields of robotics, which in the industrial field is a very practical prospect of robots. In recent years, it arouses more and more robot researchers'attention. In this dissertation, based on a three degree-of-freedom PRR type parallel manipulator, the dynamics, trajectory tracking and control strategies of parallel manipulator was researched. In order to look for the practical and acceptable control strategies in engineering.First of all, this article briefly describes the status of this field study at home and abroad, as well as trends we compendiously narrate the content and significance for research projects. Then under the robot characteristics and the demand of issues, the system architecture of the three degree-of-freedom parallel manipulator was designed, it includes a detailed introduction of selection and functional characteristics for stepper motors, motion control card, as well as rotary encoders and features. Through the establishment of parallel robot kinematics model, it detailed discuss and derivate the relationship of kinematics aspect and dynamics aspect to parallel manipulator, and use the movement trajectory method to the robot trajectory planning.Based on the kinematics model of parallel robot, it used adaptive control, nonlinear PD synchronization control, and adaptive synchronization control of three kinds of control strategy for trajectory tracking control of the body. Then under the trajectory moving platform, there are experimental simulation and error analysis for parallel robot. By comparing and analyzing simulation results of three kinds of controller, obtained with their respective advantages and disadvantages, which validate the superiority and feasibility of adaptive synchronization control strategy.Finally, it use Visual C++ to compile the interface control software of parallel robot system, and combine with the corresponding control algorithm, well-design man-machine interface, in order to it can high-precision accomplish a given track movement to user and achieve human-machine communication. At the same time through a large number of experiments and the actual operation, it verifies the correctness of the theory presented in this paper, and the rationality of the parallel robot structure. It successful complete the system planned tracking movement and maintain a high accuracy, and reach the expected objective in this paper.